Gazebo Gazebo

API Reference

6.16.0

#include <LeeVelocityController.hh>

Public Member Functions

void CalculateRotorVelocities (const FrameData &_frameData, const EigenTwist &_cmdVel, Eigen::VectorXd &_rotorVelocities) const
 Calculate rotor velocities given the current frame data and the commanded velocity. More...
 

Static Public Member Functions

static std::unique_ptr< LeeVelocityControllerMakeController (const LeeVelocityControllerParameters &_controllerParams, const VehicleParameters &_vehicleParams)
 Factory function to create LeeVelocityController objects. More...
 

Detailed Description

This controller is inspired by the LeePositionController from RotorS https://github.com/ethz-asl/rotors_simulator/blob/master/rotors_control/include/rotors_control/lee_position_controller.h The controller can be used to command linear velocity and yaw angle velocity expressed in the body frame.

Member Function Documentation

◆ CalculateRotorVelocities()

void CalculateRotorVelocities ( const FrameData _frameData,
const EigenTwist _cmdVel,
Eigen::VectorXd &  _rotorVelocities 
) const

Calculate rotor velocities given the current frame data and the commanded velocity.

Parameters
[in]_frameDataFrame data including pose and linear and angular velocities
[in]_cmdVelCommanded velocity
[out]_rotorVelocitiesComputed rotor velocities.

◆ MakeController()

static std::unique_ptr<LeeVelocityController> MakeController ( const LeeVelocityControllerParameters _controllerParams,
const VehicleParameters _vehicleParams 
)
static

Factory function to create LeeVelocityController objects.

Parameters
[in]_controllerParamsController parameteres
[in]_vehicleParamsVehicle parameteres
Returns
nullptr if the input parameters were valid, otherwise an pointer to an instance of LeeVelocityController

The documentation for this class was generated from the following file: